From a88eaa9e8eeaddc6010e3d2ef540a1278b297c76 Mon Sep 17 00:00:00 2001
From: GitHub Action <action@github.com>
Date: Sat, 27 May 2023 11:31:14 +0000
Subject: [PATCH] Add changes for ca82a4b1dff20dba0c852f4e0ac41501cba6e9ab

---
 .buildinfo                                    |   2 +-
 .../normal_vector_estimation.html             |   3 +
 .../point_cloud_sampling.html                 |   3 +
 .../BSplinePath/bspline_path.html             |   3 +
 .../CubicSpline/cubic_spline_planner.html     |   3 +
 .../DubinsPath/dubins_path_planner.html       |   3 +
 _modules/index.html                           |   3 +
 _modules/utils/plot.html                      |   3 +
 _static/check-solid.svg                       |   4 +
 _static/clipboard.min.js                      |   7 +
 _static/copy-button.svg                       |   5 +
 _static/copybutton.css                        |  94 +++++++
 _static/copybutton.js                         | 248 ++++++++++++++++++
 _static/copybutton_funcs.js                   |  73 ++++++
 genindex.html                                 |   3 +
 getting_started.html                          |   3 +
 how_to_contribute.html                        |   3 +
 index.html                                    |   3 +
 .../aerial_navigation/aerial_navigation.html  |   3 +
 .../drone_3d_trajectory_following.html        |   3 +
 .../rocket_powered_landing.html               |   3 +
 modules/appendix/Kalmanfilter_basics.html     |   3 +
 modules/appendix/Kalmanfilter_basics_2.html   |   3 +
 modules/appendix/appendix.html                |   3 +
 modules/arm_navigation/arm_navigation.html    |   3 +
 .../n_joint_arm_to_point_control.html         |   3 +
 .../obstacle_avoidance_arm_navigation.html    |   3 +
 .../arm_navigation/planar_two_link_ik.html    |   3 +
 modules/bipedal/bipedal.html                  |   3 +
 .../bipedal_planner/bipedal_planner.html      |   3 +
 modules/control/control.html                  |   3 +
 .../inverted_pendulum_control.html            |   3 +
 .../move_to_a_pose_control.html               |   3 +
 modules/introduction.html                     |   3 +
 .../ensamble_kalman_filter_localization.html  |   3 +
 .../extended_kalman_filter_localization.html  |   3 +
 .../histogram_filter_localization.html        |   3 +
 modules/localization/localization.html        |   3 +
 .../particle_filter_localization.html         |   3 +
 .../unscented_kalman_filter_localization.html |   3 +
 .../circle_fitting/circle_fitting.html        |   3 +
 .../gaussian_grid_map/gaussian_grid_map.html  |   3 +
 .../k_means_object_clustering.html            |   3 +
 .../lidar_to_grid_map_tutorial.html           |   3 +
 modules/mapping/mapping.html                  |   3 +
 .../normal_vector_estimation.html             |   3 +
 .../point_cloud_sampling.html                 |   3 +
 .../ray_casting_grid_map.html                 |   3 +
 .../rectangle_fitting/rectangle_fitting.html  |   3 +
 .../bezier_path/bezier_path.html              |   3 +
 .../bspline_path/bspline_path.html            |   3 +
 .../path_planning/bugplanner/bugplanner.html  |   3 +
 .../clothoid_path/clothoid_path.html          |   3 +
 .../coverage_path/coverage_path.html          |   3 +
 .../cubic_spline/cubic_spline.html            |   3 +
 .../dubins_path/dubins_path.html              |   3 +
 .../dynamic_window_approach.html              |   3 +
 .../eta3_spline/eta3_spline.html              |   3 +
 .../frenet_frame_path/frenet_frame_path.html  |   3 +
 .../grid_base_search/grid_base_search.html    |   3 +
 .../hybridastar/hybridastar.html              |   3 +
 modules/path_planning/lqr_path/lqr_path.html  |   3 +
 ...model_predictive_trajectory_generator.html |   3 +
 modules/path_planning/path_planning.html      |   3 +
 .../prm_planner/prm_planner.html              |   3 +
 .../quintic_polynomials_planner.html          |   3 +
 .../reeds_shepp_path/reeds_shepp_path.html    |   3 +
 modules/path_planning/rrt/rrt.html            |   3 +
 .../state_lattice_planner.html                |   3 +
 .../visibility_road_map_planner.html          |   3 +
 .../vrm_planner/vrm_planner.html              |   3 +
 .../cgmres_nmpc/cgmres_nmpc.html              |   3 +
 .../lqr_speed_and_steering_control.html       |   3 +
 .../lqr_steering_control.html                 |   3 +
 ...predictive_speed_and_steering_control.html |   3 +
 modules/path_tracking/path_tracking.html      |   3 +
 .../pure_pursuit_tracking.html                |   3 +
 .../rear_wheel_feedback_control.html          |   3 +
 .../stanley_control/stanley_control.html      |   3 +
 modules/slam/FastSLAM1/FastSLAM1.html         |   3 +
 modules/slam/FastSLAM2/FastSLAM2.html         |   3 +
 modules/slam/ekf_slam/ekf_slam.html           |   3 +
 modules/slam/graph_slam/graph_slam.html       |   3 +
 .../iterative_closest_point_matching.html     |   3 +
 modules/slam/slam.html                        |   3 +
 modules/utils/plot/plot.html                  |   3 +
 modules/utils/utils.html                      |   3 +
 search.html                                   |   3 +
 88 files changed, 675 insertions(+), 1 deletion(-)
 create mode 100644 _static/check-solid.svg
 create mode 100644 _static/clipboard.min.js
 create mode 100644 _static/copy-button.svg
 create mode 100644 _static/copybutton.css
 create mode 100644 _static/copybutton.js
 create mode 100644 _static/copybutton_funcs.js

diff --git a/.buildinfo b/.buildinfo
index 62a8e587..a566571c 100644
--- a/.buildinfo
+++ b/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 4f37ffca30aa3d7141050d0c7b599c4d
+config: e39bc70d8dbdff6ca620cc5682fa9567
 tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html b/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html
index 85ad18ab..616e695e 100644
--- a/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html
+++ b/_modules/Mapping/normal_vector_estimation/normal_vector_estimation.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html b/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html
index 0575e69d..87922417 100644
--- a/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html
+++ b/_modules/Mapping/point_cloud_sampling/point_cloud_sampling.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/PathPlanning/BSplinePath/bspline_path.html b/_modules/PathPlanning/BSplinePath/bspline_path.html
index 9906be05..b9c1cfc1 100644
--- a/_modules/PathPlanning/BSplinePath/bspline_path.html
+++ b/_modules/PathPlanning/BSplinePath/bspline_path.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html b/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html
index dbb88336..f8aed0f9 100644
--- a/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html
+++ b/_modules/PathPlanning/CubicSpline/cubic_spline_planner.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/PathPlanning/DubinsPath/dubins_path_planner.html b/_modules/PathPlanning/DubinsPath/dubins_path_planner.html
index 82768ebf..6e2c614d 100644
--- a/_modules/PathPlanning/DubinsPath/dubins_path_planner.html
+++ b/_modules/PathPlanning/DubinsPath/dubins_path_planner.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../../_static/jquery.js"></script>
         <script src="../../../_static/underscore.js"></script>
         <script src="../../../_static/doctools.js"></script>
+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
     <script src="../../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../../genindex.html" />
     <link rel="search" title="Search" href="../../../search.html" /> 
diff --git a/_modules/index.html b/_modules/index.html
index 8d38eb2b..883e2446 100644
--- a/_modules/index.html
+++ b/_modules/index.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../_static/jquery.js"></script>
         <script src="../_static/underscore.js"></script>
         <script src="../_static/doctools.js"></script>
+        <script src="../_static/clipboard.min.js"></script>
+        <script src="../_static/copybutton.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" /> 
diff --git a/_modules/utils/plot.html b/_modules/utils/plot.html
index 54b5b090..7a7fb478 100644
--- a/_modules/utils/plot.html
+++ b/_modules/utils/plot.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="../../_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="../../_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="../../_static/jquery.js"></script>
         <script src="../../_static/underscore.js"></script>
         <script src="../../_static/doctools.js"></script>
+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
     <script src="../../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" /> 
diff --git a/_static/check-solid.svg b/_static/check-solid.svg
new file mode 100644
index 00000000..92fad4b5
--- /dev/null
+++ b/_static/check-solid.svg
@@ -0,0 +1,4 @@
+<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-check" width="44" height="44" viewBox="0 0 24 24" stroke-width="2" stroke="#22863a" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <path d="M5 12l5 5l10 -10" />
+</svg>
diff --git a/_static/clipboard.min.js b/_static/clipboard.min.js
new file mode 100644
index 00000000..54b3c463
--- /dev/null
+++ b/_static/clipboard.min.js
@@ -0,0 +1,7 @@
+/*!
+ * clipboard.js v2.0.8
+ * https://clipboardjs.com/
+ *
+ * Licensed MIT © Zeno Rocha
+ */
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e,n="SELECT"===t.nodeName?(t.focus(),t.value):"INPUT"===t.nodeName||"TEXTAREA"===t.nodeName?((e=t.hasAttribute("readonly"))||t.setAttribute("readonly",""),t.select(),t.setSelectionRange(0,t.value.length),e||t.removeAttribute("readonly"),t.value):(t.hasAttribute("contenteditable")&&t.focus(),n=window.getSelection(),(e=document.createRange()).selectNodeContents(t),n.removeAllRanges(),n.addRange(e),n.toString());return n}},279:function(t){function e(){}e.prototype={on:function(t,e,n){var o=this.e||(this.e={});return(o[t]||(o[t]=[])).push({fn:e,ctx:n}),this},once:function(t,e,n){var o=this;function r(){o.off(t,r),e.apply(n,arguments)}return r._=e,this.on(t,r,n)},emit:function(t){for(var e=[].slice.call(arguments,1),n=((this.e||(this.e={}))[t]||[]).slice(),o=0,r=n.length;o<r;o++)n[o].fn.apply(n[o].ctx,e);return this},off:function(t,e){var n=this.e||(this.e={}),o=n[t],r=[];if(o&&e)for(var i=0,u=o.length;i<u;i++)o[i].fn!==e&&o[i].fn._!==e&&r.push(o[i]);return r.length?n[t]=r:delete n[t],this}},t.exports=e,t.exports.TinyEmitter=e}},r={},o.n=function(t){var e=t&&t.__esModule?function(){return t.default}:function(){return t};return o.d(e,{a:e}),e},o.d=function(t,e){for(var n in e)o.o(e,n)&&!o.o(t,n)&&Object.defineProperty(t,n,{enumerable:!0,get:e[n]})},o.o=function(t,e){return Object.prototype.hasOwnProperty.call(t,e)},o(686).default;function o(t){if(r[t])return r[t].exports;var e=r[t]={exports:{}};return n[t](e,e.exports,o),e.exports}var n,r});
\ No newline at end of file
diff --git a/_static/copy-button.svg b/_static/copy-button.svg
new file mode 100644
index 00000000..9c074dae
--- /dev/null
+++ b/_static/copy-button.svg
@@ -0,0 +1,5 @@
+<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-copy" width="44" height="44" viewBox="0 0 24 24" stroke-width="1.5" stroke="#000000" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <rect x="8" y="8" width="12" height="12" rx="2" />
+  <path d="M16 8v-2a2 2 0 0 0 -2 -2h-8a2 2 0 0 0 -2 2v8a2 2 0 0 0 2 2h2" />
+</svg>
diff --git a/_static/copybutton.css b/_static/copybutton.css
new file mode 100644
index 00000000..f1916ec7
--- /dev/null
+++ b/_static/copybutton.css
@@ -0,0 +1,94 @@
+/* Copy buttons */
+button.copybtn {
+    position: absolute;
+    display: flex;
+    top: .3em;
+    right: .3em;
+    width: 1.7em;
+    height: 1.7em;
+	opacity: 0;
+    transition: opacity 0.3s, border .3s, background-color .3s;
+    user-select: none;
+    padding: 0;
+    border: none;
+    outline: none;
+    border-radius: 0.4em;
+    /* The colors that GitHub uses */
+    border: #1b1f2426 1px solid;
+    background-color: #f6f8fa;
+    color: #57606a;
+}
+
+button.copybtn.success {
+    border-color: #22863a;
+    color: #22863a;
+}
+
+button.copybtn svg {
+    stroke: currentColor;
+    width: 1.5em;
+    height: 1.5em;
+    padding: 0.1em;
+}
+
+div.highlight  {
+    position: relative;
+}
+
+/* Show the copybutton */
+.highlight:hover button.copybtn, button.copybtn.success {
+	opacity: 1;
+}
+
+.highlight button.copybtn:hover {
+    background-color: rgb(235, 235, 235);
+}
+
+.highlight button.copybtn:active {
+    background-color: rgb(187, 187, 187);
+}
+
+/**
+ * A minimal CSS-only tooltip copied from:
+ *   https://codepen.io/mildrenben/pen/rVBrpK
+ *
+ * To use, write HTML like the following:
+ *
+ * <p class="o-tooltip--left" data-tooltip="Hey">Short</p>
+ */
+ .o-tooltip--left {
+  position: relative;
+ }
+
+ .o-tooltip--left:after {
+    opacity: 0;
+    visibility: hidden;
+    position: absolute;
+    content: attr(data-tooltip);
+    padding: .2em;
+    font-size: .8em;
+    left: -.2em;
+    background: grey;
+    color: white;
+    white-space: nowrap;
+    z-index: 2;
+    border-radius: 2px;
+    transform: translateX(-102%) translateY(0);
+    transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1);
+}
+
+.o-tooltip--left:hover:after {
+    display: block;
+    opacity: 1;
+    visibility: visible;
+    transform: translateX(-100%) translateY(0);
+    transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1);
+    transition-delay: .5s;
+}
+
+/* By default the copy button shouldn't show up when printing a page */
+@media print {
+    button.copybtn {
+        display: none;
+    }
+}
diff --git a/_static/copybutton.js b/_static/copybutton.js
new file mode 100644
index 00000000..2ea7ff3e
--- /dev/null
+++ b/_static/copybutton.js
@@ -0,0 +1,248 @@
+// Localization support
+const messages = {
+  'en': {
+    'copy': 'Copy',
+    'copy_to_clipboard': 'Copy to clipboard',
+    'copy_success': 'Copied!',
+    'copy_failure': 'Failed to copy',
+  },
+  'es' : {
+    'copy': 'Copiar',
+    'copy_to_clipboard': 'Copiar al portapapeles',
+    'copy_success': '¡Copiado!',
+    'copy_failure': 'Error al copiar',
+  },
+  'de' : {
+    'copy': 'Kopieren',
+    'copy_to_clipboard': 'In die Zwischenablage kopieren',
+    'copy_success': 'Kopiert!',
+    'copy_failure': 'Fehler beim Kopieren',
+  },
+  'fr' : {
+    'copy': 'Copier',
+    'copy_to_clipboard': 'Copier dans le presse-papier',
+    'copy_success': 'Copié !',
+    'copy_failure': 'Échec de la copie',
+  },
+  'ru': {
+    'copy': 'Скопировать',
+    'copy_to_clipboard': 'Скопировать в буфер',
+    'copy_success': 'Скопировано!',
+    'copy_failure': 'Не удалось скопировать',
+  },
+  'zh-CN': {
+    'copy': '复制',
+    'copy_to_clipboard': '复制到剪贴板',
+    'copy_success': '复制成功!',
+    'copy_failure': '复制失败',
+  },
+  'it' : {
+    'copy': 'Copiare',
+    'copy_to_clipboard': 'Copiato negli appunti',
+    'copy_success': 'Copiato!',
+    'copy_failure': 'Errore durante la copia',
+  }
+}
+
+let locale = 'en'
+if( document.documentElement.lang !== undefined
+    && messages[document.documentElement.lang] !== undefined ) {
+  locale = document.documentElement.lang
+}
+
+let doc_url_root = DOCUMENTATION_OPTIONS.URL_ROOT;
+if (doc_url_root == '#') {
+    doc_url_root = '';
+}
+
+/**
+ * SVG files for our copy buttons
+ */
+let iconCheck = `<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-check" width="44" height="44" viewBox="0 0 24 24" stroke-width="2" stroke="#22863a" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <title>${messages[locale]['copy_success']}</title>
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <path d="M5 12l5 5l10 -10" />
+</svg>`
+
+// If the user specified their own SVG use that, otherwise use the default
+let iconCopy = ``;
+if (!iconCopy) {
+  iconCopy = `<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-copy" width="44" height="44" viewBox="0 0 24 24" stroke-width="1.5" stroke="#000000" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <title>${messages[locale]['copy_to_clipboard']}</title>
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <rect x="8" y="8" width="12" height="12" rx="2" />
+  <path d="M16 8v-2a2 2 0 0 0 -2 -2h-8a2 2 0 0 0 -2 2v8a2 2 0 0 0 2 2h2" />
+</svg>`
+}
+
+/**
+ * Set up copy/paste for code blocks
+ */
+
+const runWhenDOMLoaded = cb => {
+  if (document.readyState != 'loading') {
+    cb()
+  } else if (document.addEventListener) {
+    document.addEventListener('DOMContentLoaded', cb)
+  } else {
+    document.attachEvent('onreadystatechange', function() {
+      if (document.readyState == 'complete') cb()
+    })
+  }
+}
+
+const codeCellId = index => `codecell${index}`
+
+// Clears selected text since ClipboardJS will select the text when copying
+const clearSelection = () => {
+  if (window.getSelection) {
+    window.getSelection().removeAllRanges()
+  } else if (document.selection) {
+    document.selection.empty()
+  }
+}
+
+// Changes tooltip text for a moment, then changes it back
+// We want the timeout of our `success` class to be a bit shorter than the
+// tooltip and icon change, so that we can hide the icon before changing back.
+var timeoutIcon = 2000;
+var timeoutSuccessClass = 1500;
+
+const temporarilyChangeTooltip = (el, oldText, newText) => {
+  el.setAttribute('data-tooltip', newText)
+  el.classList.add('success')
+  // Remove success a little bit sooner than we change the tooltip
+  // So that we can use CSS to hide the copybutton first
+  setTimeout(() => el.classList.remove('success'), timeoutSuccessClass)
+  setTimeout(() => el.setAttribute('data-tooltip', oldText), timeoutIcon)
+}
+
+// Changes the copy button icon for two seconds, then changes it back
+const temporarilyChangeIcon = (el) => {
+  el.innerHTML = iconCheck;
+  setTimeout(() => {el.innerHTML = iconCopy}, timeoutIcon)
+}
+
+const addCopyButtonToCodeCells = () => {
+  // If ClipboardJS hasn't loaded, wait a bit and try again. This
+  // happens because we load ClipboardJS asynchronously.
+  if (window.ClipboardJS === undefined) {
+    setTimeout(addCopyButtonToCodeCells, 250)
+    return
+  }
+
+  // Add copybuttons to all of our code cells
+  const COPYBUTTON_SELECTOR = 'div.highlight pre';
+  const codeCells = document.querySelectorAll(COPYBUTTON_SELECTOR)
+  codeCells.forEach((codeCell, index) => {
+    const id = codeCellId(index)
+    codeCell.setAttribute('id', id)
+
+    const clipboardButton = id =>
+    `<button class="copybtn o-tooltip--left" data-tooltip="${messages[locale]['copy']}" data-clipboard-target="#${id}">
+      ${iconCopy}
+    </button>`
+    codeCell.insertAdjacentHTML('afterend', clipboardButton(id))
+  })
+
+function escapeRegExp(string) {
+    return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+}
+
+/**
+ * Removes excluded text from a Node.
+ *
+ * @param {Node} target Node to filter.
+ * @param {string} exclude CSS selector of nodes to exclude.
+ * @returns {DOMString} Text from `target` with text removed.
+ */
+function filterText(target, exclude) {
+    const clone = target.cloneNode(true);  // clone as to not modify the live DOM
+    if (exclude) {
+        // remove excluded nodes
+        clone.querySelectorAll(exclude).forEach(node => node.remove());
+    }
+    return clone.innerText;
+}
+
+// Callback when a copy button is clicked. Will be passed the node that was clicked
+// should then grab the text and replace pieces of text that shouldn't be used in output
+function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") {
+    var regexp;
+    var match;
+
+    // Do we check for line continuation characters and "HERE-documents"?
+    var useLineCont = !!lineContinuationChar
+    var useHereDoc = !!hereDocDelim
+
+    // create regexp to capture prompt and remaining line
+    if (isRegexp) {
+        regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)')
+    } else {
+        regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)')
+    }
+
+    const outputLines = [];
+    var promptFound = false;
+    var gotLineCont = false;
+    var gotHereDoc = false;
+    const lineGotPrompt = [];
+    for (const line of textContent.split('\n')) {
+        match = line.match(regexp)
+        if (match || gotLineCont || gotHereDoc) {
+            promptFound = regexp.test(line)
+            lineGotPrompt.push(promptFound)
+            if (removePrompts && promptFound) {
+                outputLines.push(match[2])
+            } else {
+                outputLines.push(line)
+            }
+            gotLineCont = line.endsWith(lineContinuationChar) & useLineCont
+            if (line.includes(hereDocDelim) & useHereDoc)
+                gotHereDoc = !gotHereDoc
+        } else if (!onlyCopyPromptLines) {
+            outputLines.push(line)
+        } else if (copyEmptyLines && line.trim() === '') {
+            outputLines.push(line)
+        }
+    }
+
+    // If no lines with the prompt were found then just use original lines
+    if (lineGotPrompt.some(v => v === true)) {
+        textContent = outputLines.join('\n');
+    }
+
+    // Remove a trailing newline to avoid auto-running when pasting
+    if (textContent.endsWith("\n")) {
+        textContent = textContent.slice(0, -1)
+    }
+    return textContent
+}
+
+
+var copyTargetText = (trigger) => {
+  var target = document.querySelector(trigger.attributes['data-clipboard-target'].value);
+
+  // get filtered text
+  let exclude = '.linenos';
+
+  let text = filterText(target, exclude);
+  return formatCopyText(text, '', false, true, true, true, '', '')
+}
+
+  // Initialize with a callback so we can modify the text before copy
+  const clipboard = new ClipboardJS('.copybtn', {text: copyTargetText})
+
+  // Update UI with error/success messages
+  clipboard.on('success', event => {
+    clearSelection()
+    temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_success'])
+    temporarilyChangeIcon(event.trigger)
+  })
+
+  clipboard.on('error', event => {
+    temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_failure'])
+  })
+}
+
+runWhenDOMLoaded(addCopyButtonToCodeCells)
\ No newline at end of file
diff --git a/_static/copybutton_funcs.js b/_static/copybutton_funcs.js
new file mode 100644
index 00000000..dbe1aaad
--- /dev/null
+++ b/_static/copybutton_funcs.js
@@ -0,0 +1,73 @@
+function escapeRegExp(string) {
+    return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+}
+
+/**
+ * Removes excluded text from a Node.
+ *
+ * @param {Node} target Node to filter.
+ * @param {string} exclude CSS selector of nodes to exclude.
+ * @returns {DOMString} Text from `target` with text removed.
+ */
+export function filterText(target, exclude) {
+    const clone = target.cloneNode(true);  // clone as to not modify the live DOM
+    if (exclude) {
+        // remove excluded nodes
+        clone.querySelectorAll(exclude).forEach(node => node.remove());
+    }
+    return clone.innerText;
+}
+
+// Callback when a copy button is clicked. Will be passed the node that was clicked
+// should then grab the text and replace pieces of text that shouldn't be used in output
+export function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") {
+    var regexp;
+    var match;
+
+    // Do we check for line continuation characters and "HERE-documents"?
+    var useLineCont = !!lineContinuationChar
+    var useHereDoc = !!hereDocDelim
+
+    // create regexp to capture prompt and remaining line
+    if (isRegexp) {
+        regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)')
+    } else {
+        regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)')
+    }
+
+    const outputLines = [];
+    var promptFound = false;
+    var gotLineCont = false;
+    var gotHereDoc = false;
+    const lineGotPrompt = [];
+    for (const line of textContent.split('\n')) {
+        match = line.match(regexp)
+        if (match || gotLineCont || gotHereDoc) {
+            promptFound = regexp.test(line)
+            lineGotPrompt.push(promptFound)
+            if (removePrompts && promptFound) {
+                outputLines.push(match[2])
+            } else {
+                outputLines.push(line)
+            }
+            gotLineCont = line.endsWith(lineContinuationChar) & useLineCont
+            if (line.includes(hereDocDelim) & useHereDoc)
+                gotHereDoc = !gotHereDoc
+        } else if (!onlyCopyPromptLines) {
+            outputLines.push(line)
+        } else if (copyEmptyLines && line.trim() === '') {
+            outputLines.push(line)
+        }
+    }
+
+    // If no lines with the prompt were found then just use original lines
+    if (lineGotPrompt.some(v => v === true)) {
+        textContent = outputLines.join('\n');
+    }
+
+    // Remove a trailing newline to avoid auto-running when pasting
+    if (textContent.endsWith("\n")) {
+        textContent = textContent.slice(0, -1)
+    }
+    return textContent
+}
diff --git a/genindex.html b/genindex.html
index 9d8212ae..ee93118c 100644
--- a/genindex.html
+++ b/genindex.html
@@ -7,6 +7,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
@@ -16,6 +17,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="#" />
     <link rel="search" title="Search" href="search.html" /> 
diff --git a/getting_started.html b/getting_started.html
index e8fd45da..3f1e98c5 100644
--- a/getting_started.html
+++ b/getting_started.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
diff --git a/how_to_contribute.html b/how_to_contribute.html
index 23a1d42c..70ffa646 100644
--- a/how_to_contribute.html
+++ b/how_to_contribute.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
@@ -17,6 +18,8 @@
         <script src="_static/jquery.js"></script>
         <script src="_static/underscore.js"></script>
         <script src="_static/doctools.js"></script>
+        <script src="_static/clipboard.min.js"></script>
+        <script src="_static/copybutton.js"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
diff --git a/index.html b/index.html
index aa191265..d9003944 100644
--- a/index.html
+++ b/index.html
@@ -8,6 +8,7 @@
       <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
       <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
       <link rel="stylesheet" href="_static/plot_directive.css" type="text/css" />
+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
       <link rel="stylesheet" href="_static/custom.css" type="text/css" />
   <!--[if lt IE 9]>
     <script src="_static/js/html5shiv.min.js"></script>
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+        <script src="../../../_static/clipboard.min.js"></script>
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index 128a5f64..5af729f1 100644
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
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+        <script src="../../../_static/copybutton.js"></script>
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+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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+        <script src="../../_static/copybutton.js"></script>
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index 35f22821..fa27ce48 100644
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+        <script src="../../../_static/copybutton.js"></script>
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+        <script src="../../../_static/clipboard.min.js"></script>
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+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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+        <script src="../../../_static/clipboard.min.js"></script>
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+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
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+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
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         <script src="../../../_static/underscore.js"></script>
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+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
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+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
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+      <link rel="stylesheet" href="../../../_static/copybutton.css" type="text/css" />
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+        <script src="../../../_static/clipboard.min.js"></script>
+        <script src="../../../_static/copybutton.js"></script>
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+      <link rel="stylesheet" href="../../_static/copybutton.css" type="text/css" />
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+        <script src="../../_static/clipboard.min.js"></script>
+        <script src="../../_static/copybutton.js"></script>
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diff --git a/search.html b/search.html
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+      <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
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+        <script src="_static/clipboard.min.js"></script>
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